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Usage Documentation

Usage

Basic Workflow

  1. Load Point Cloud Sequence:

    pclLoaderCmd -mainPath "path/to/sequence/frame_####.ply" -name "myLoader";

  2. Create Raycaster (optional):

    pclRaycasterCmd -name "myRaycaster" -pclLoader "myLoader" -selCamera "camera1";

  3. Create Cluster (optional):

    pclClusteringCmd -name "myCluster" -pclLoader "myLoader";

  4. Create Sequencer (optional):

    pclSequencerCmd -name "mySequencer" -pclLoader "myLoader";

Command Reference

pclLoaderCmd

Main command for creating the loader node.

Flags:

  • -mainPath / -mP: Path to point cloud file or sequence
  • -name / -n: Name for the loader node
  • -pclRaycaster / -pr: Create and connect raycaster
  • -pclCluster / -pc: Create and connect cluster
  • -pclSequencer / -ps: Create and connect sequencer
  • -selCamera / -sc: Camera for raycaster (if creating raycaster)

Example:

pclLoaderCmd -mainPath "C:/data/points/frame_####.ply" -name "loader1" -pclRaycaster -selCamera "persp";

pclRaycasterCmd

Creates a raycaster node connected to a loader.

Flags:

  • -name / -n: Name for the raycaster node
  • -pclLoader / -pl: Name of the pclLoader node to connect to

pclClusteringCmd

Creates a cluster node connected to a loader.

Flags:

  • -name / -n: Name for the cluster node
  • -pclLoader / -pl: Name of the pclLoader node to connect to

pclSequencerCmd

Creates a sequencer node connected to a loader.

Flags:

  • -name / -n: Name for the sequencer node
  • -pclLoader / -pl: Name of the pclLoader node to connect to

Node Attributes

pclLoader Node

  • mainPath: Path to point cloud file or sequence
  • loadFile: Enable/disable file loading (0=off, 1=on)
  • loadStartFrame / loadEndFrame: Frame range to load
  • skipFilesRows: Downsampling stride (0 = no downsampling)
  • containerOnOff: Container filtering mode (0=off, 2=inside, 3=outside)
  • inContainerMatrix: Transform matrix for container positioning
  • timeOffset: Current frame offset for timeline playback
  • displayPoints: Show/hide points in viewport
  • pointsSize: Point size for viewport display

pclRaycaster Node

  • inTime: Time input (connect to time1.outTime)
  • cameraMatrix: Camera to use for raycasting
  • raycastOnOff: Enable raycasting (0=off, 1=raycast, 2=frustum)
  • raycastInputX / raycastInputY: Screen coordinates for raycast
  • displayType: Display mode (0=all, 1=raycast hits, 2=outside raycast)
  • minRadius: Minimum radius for raycast hit detection

pclCluster Node

  • action: Enable clustering (0=off, 1=on)
  • recursionDepth: Octree subdivision depth
  • minimumPointCount: Minimum points per cluster
  • clustersGrouping: Enable cluster grouping
  • createClusterPath: Track cluster trajectories
  • createCurvs: Generate NURBS curves from trajectories

Path Patterns

The loader supports several path patterns: (Examples work on both *.ply and *.pcl files)

  1. Single File:

    C:/data/points/frame.ply

  2. Numbered Sequence (using #):

    C:/data/points/frame_####.ply

    Matches: frame_0001.ply, frame_0002.ply, etc.

  3. Folder with Multiple Files:

    C:/data/points/folder/

    Loads all .ply and .pcd files in the folder

  4. Sequence Folder:

    C:/data/points/frame_####/points.ply

    Matches numbered folders containing point files